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The approach depends on the definition of a set of primitives, which are themselves efficiently trans formed and may be combined logically to construct more complex transformations. The concepts are illustrated with both computed and empirically obtained configura tion space obstacles in two and three dimensions. Perfor mance data for real-time transformations are reported.<\/jats:p>","DOI":"10.1177\/027836499101000605","type":"journal-article","created":{"date-parts":[[2007,3,4]],"date-time":"2007-03-04T20:24:06Z","timestamp":1173039846000},"page":"650-667","source":"Crossref","is-referenced-by-count":35,"title":["Real-Time Configuration Space Transforms for Obstacle Avoidance"],"prefix":"10.1177","volume":"10","author":[{"given":"Wyatt S.","family":"Newman","sequence":"first","affiliation":[{"name":"Department of Electrical Engineering and Applied Physics Center for Automation and Intelligent Systems Research Case Western Reserve University Cleveland, Ohio 44106"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Michael S.","family":"Branicky","sequence":"additional","affiliation":[{"name":"Department of Electrical Engineering and Applied Physics Center for Automation and Intelligent Systems Research Case Western Reserve University Cleveland, Ohio 44106"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[1991,12,1]]},"reference":[{"key":"atypb1","volume-title":"Robot Analysis and Control","author":"Asada, H.","year":"1986"},{"key":"atypb2","doi-asserted-by":"publisher","DOI":"10.1145\/359046.359048"},{"key":"atypb3","unstructured":"Brady, M., Hollerbach, J.M., Johnson, T.J., Lozano-P\u00e9rez, T., and Mason, M.T. 1982. 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